Equations derived for simulation can be accessed from documentation folder. The generic 2dof planar parallel manipulator, shown in fig. In this paper, the dynamic controller design problem of a redundant planar 2dof parallel manipulator is studied. Optimal design of a 2dof planar parallel manipulator. Main disadvantage of parallel manipulator is the presence. Closedform solutions were developed to optimize kinematics design of a 2 degreeoffreedom 2dof planar parallel manipulator. This work illustrates simulation approach for optimizing the parametric design and performance of a 2dof rr planar manipulator. This study investigates the performance of the fuzzy model reference adaptive control method applied on a 2dof underwater planar manipulator mimo system. Read optimal design of a 2dof parallel manipulator with actuation redundancy considering kinematics and natural frequency, robotics and computerintegrated manufacturing on deepdyve, the largest online rental service for scholarly research with thousands of academic publications available at your fingertips. Inverse dynamics analysis of a 2dof planar parallel. Modeling and control of 2dof underwater planar manipulator. This paper describes a new 2dof planar manipulator pm using coupled kinematics to manage the singularities. Differentially flat design of underactuated planar robots.
Dynamic analysis of the 2dof planar parallel manipulator. In this study, a fivebar linkage was designed and two links of the mechanism were produced by using 3d printer. International journal of mechanical and production engineering, issn. Modeling, identification and control of a redundant planar. Analysis and application of a 2dof planar parallel mechanism jun wu.
The dynamic characteristics of the parallel mechanism depend strongly on the operating modes corresponding to different inverse solutions, but few of them have been involved with. Dynamic analysis of a planar 2dof manipulator driven by. Dynamics and dimensional synthesis of a novel 2dof translational manipulator. Scara 1dof roll wrist mitsubishi 2dof pitchroll wrist offset 2dof pitchyaw wrist for puma 3dof rollpitchroll wrist. Design of a soft 2dof planar pneumatic manipulator. The proposed design concept is illustrated by a driven demonstrator which is a first model of the suggested manipulator. Proceedings of the asme 2015 international design engineering technical conferences and computers and information in engineering conference. The design philosophy has two sufficient conditions. This video shows a demonstration of the planar 2dof parallel sequentially actuated manipulator. A pair of fivebar mechanisms having their pivotal axes parallel are each mounted at one end to a base and are interconnected at their other ends by a crankshaft to obtain a manipulator generating three degrees of freedom planar motion of an endeffector. It is useful to start with planar robots because the kinematics of planar mechanisms is generally much simpler to analyze. Conceptual design of a 2dof planar highspeed industrial. Without simplification, the dynamic formulation is derived by using the virtual work principle. Kinematic analysis of a 2dof planar parallel manipulator with automated selective activation mechanism to avoid singularities.
The physical model of the solution space for the manipulators is established. Firstly, the four inverse solutions of this manipulator are derived and analyzed. Force optimization of planar 2dof parallel manipulators. The abundant use of multi dof spherical and universal joints in parallel manipulator not only simplify the kinematics, but they also make sure that the legs in the stew. Sliding mode control of a soft 2dof planar pneumatic manipulator. The simulation results show the validity of the proposed method and give the possibility of a computed torque control for 2 dof robot manipulator. Closedform solutions were developed to optimize kinematics design of a 2degreeoffreedom 2dof planar parallel manipulator. A dynamics method for 2dof manipulator based on jukane. The design of a manipulator is one the important issues in the field of robots. Such a design enables the cancellation of the reaction forces and torques at the frame of the parallel manipulator. Kinematicfree position control of a 2dof planar robot. A planar 2dof parallel manipulator with actuation redundancy is taken as an example to validate the force optimization method. It is designed in order to overcome the singularity configuration of planar manipulators.
In this thesis work, a planar 2degreeoffreedom dof parallelkinematicmechanism pkm manipulator, which is actuated by a pair of pneumatic drives is proposed. This paper addresses the dynamic dexterity of a planar 2degree of freedom dof parallel manipulator with virtual constraint. Planar 2dof parallel sequentially actuated manipulator. Recently, the authors have formulated a philosophy to design underactuated planar manipulators that are differentially flat 1.
Proportional integral update law is used in the adjustment mechanism to obtain a fast parameters adaption. Analysis and application of a 2dof planar parallel. Kinematicfree position control of a 2dof planar robot arm. Dynamic dexterity of a planar 2dof parallel manipulator. Takagisugeno fuzzification is chosen for the fuzzy system. This paper focuses on the dynamic characteristics of the two degreeoffreedom dof planar parallel manipulator of a heavy duty hybrid machine tool. The motion of the manipulator is limited to a horizontal direction. In this paper, the design of reactionless 3dof 3rrr planar parallel manipulators is considered and design equations and techniques are developed. The newtoneuler approach is employed to derive the inverse dynamic equation of the parallel manipulator.
Task time optimization of two dof robot arm manipulator using genetic algorithm 75. Dynamic balancing of a 2dof 2rr planar parallel manipulator by optimization a. Forward dynamics algorithm uses numerical differentation of ordinary differential equations. Aiming at the problem that the dynamics methods presented previously are complicated and do not apply to computer programming, an explicit dynamics model by jukane method is established. Kinematic analysis of a 2dof planar parallel manipulator. A new 3dof planar parallel manipulator with unlimited. The linear actuators are coupled to a 2dof modelling and control of a 2dof planar parallel manipulator for. Using the eulerlagrange equation, we formulate the dynamic. Pernette and henein presented the method for design of a 3dof parallel translating manipulator with upu joints kinematic chains. Programs are written for forward dynamics simulation of planar 2dof robot manipulator. The structure of the planar 2dof parallel manipulator to be calibrated is shown in fig. And the atlas for the workspace of the manipulators is plotted. Request pdf conceptual design of a 2 dof planar highspeed industrial parallel manipulator this study focuses on conceptual design alternatives for a planar highspeedhighprecision. The coupled effect between the manipulator and vehicle is neglected, and the rov is assumed to be stationary when the manipulator moves.
Closedform solutions were developed to optimize kinematics design of a 2 degreeoffreedom 2 dof planar parallel manipulator. The planar 2dof parallel manipulators are 5bar linkages with 5 revolute joints or 3 revolute joints and 2 prismatic pairs. Based on the theory of the physical model of the solution space, the design of the planar 2dof parallel manipulators with actuation redundancy is discussed. In this paper, a new kind of 2dof parallel manipulator actuated horizontally by two parallel linear actuators is investigated. Also, planar examples illustrate the basic problems encountered in. The design of a smallscale model of such a manipulator using these actuators is presented, as well as a sliding mode controller for the system. Optimal kinematic design of a 2dof planar parallel. Pdf modeling and control of 2dof underwater planar. This paper deals with the optimal kinematic design, dynamic analysis, and application of a 2 degree of freedom 2dof planar parallel mechanism. According to the motion planning of the cutting tool, dynamic simulation without cutting force is performed, and the ratio of the masses of. In section 2, the inverse kinematics analysis of fivebar manipulator will be presented.
Using dynamic and kinematic models of a manipulator different performance measures for the manipulator are obtained for different combination of parameters with effect of noise incorporated to imitate the real time performance of the manipulator. Associated model is shared in all textbooks for dynamics of planar manipulator. Parallel manipulator has lot of applications in areas like flightautomobile simulators, earthquake simulators, milling machine, etc. The focus of this paper is the study of the proposed controller performance. The video demonstrates a novel concept for kinematicfree control of a robot arm. A comparison study of two planar 2dof parallel mechanisms. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. Optimization and experimental study of an intelligent. Planar robot kinematics the mathematical modeling of spatial linkages is quite involved.
Modeling, identification and control of a redundant planar 2dof parallel manipulator yaoxin zhang, shuang cong, weiwei shang, zexiang li, and shilong jiang abstract. The 2dof underwater planar manipulator mounted on the vehicle is illustrated in fig. Singularity management of 2dof planar manipulator using. Caldwell abstractthis paper challenges the wellestablished assumption in robotics that in order to control a robot it is necessary to know its kinematic information, that is, the. Singularity analysis of 2dof planar manipulator using. It implements an encoderless robot controller that does not rely on any joi. A genetic algorithm, analytical approach, and linearleastsquare lls method are widely used in mechanism design. Kinematicfree position control of a 2dof planar robot arm petar kormushev1. Pdf on aug, 2018, fatih cemal can and others published arduino based planar two dof robot manipulator find, read and cite all the research you need on researchgate. The advantages of the system, ergonomics, low weight, low cost, ease of operation and operator safety are a consequence of the use of pleated pneumatic artificial muscles as actuators. For example, li and xu have used a genetic algorithm to optimize a planar 3dof parallel manipulator. Redundant actuation may be used to generate an unlimited rotation range and an extensible link in the crankshaft may be used to provide. The planar 2 dof parallel manipulators are 5bar linkages with 5 revolute joints or 3 revolute joints and 2 prismatic pairs.
This work illustrates simulation approach for optimizing the parametric design and performance of a 2 dof rr planar manipulator. The manipulator provides 2dof of translation on the xy plane, and is driven by a linear miniature servomotor pair located at d 1, d 3 along the xaxis. A full kinematic analysis of the manipulator is discussed in reference with a desired trajectory and motion law. Kinematic parameters autocalibration of redundant planar. Pernette and henein presented the method for design of a 3 dof parallel translating manipulator with upu joints kinematic chains. The endeffector of the parallel manipulator coincides with o. Manipulators are composed of five rigid links, five revolute joints and two actuators each actuating two of input links coordinated fashion, what we term coupled kinematics. Forward dynamics of planar 2dof robot manipulator file.
1520 524 329 777 516 279 379 1218 1195 1399 219 554 1333 1554 1599 9 366 1385 932 267 336 993 1015 1401 1492 1266 321 226